Mechanical structure of transfer robot and control system thereof

Abstract

The invention relates to the technical field of industrial robots, in particular to a mechanical structure of a transfer robot and a control system.The mechanical structure comprises a machine body structure, a waist structure, a cross arm structure and a clamping structure; the waist structure is mainly composed of four pairs of hydraulically-driven guide rod matched guide sleeve structures capable of moving up and down, the cross arm structure is composed of two pairs of hydraulically-driven guide rod matched guide sleeve structures capable of moving horizontally, the clamping structure is composed of two pairs of fan-shaped clamp structures driven by rack cylinders, and objects are grabbed and put down through meshing transmission. The control system drives the hydraulic control system to achieve robot path planning through real-time feedback of an infrared distance meter and a PLC, a PLC control program drives the hydraulic control system to complete robot path planning, object placement can be completed every time, the mechanical structure is simple, maintenance is convenient, guiding is reliable, the hydraulic driving torque is large, long-distance taking and placing of heavy objects can be achieved, and the robot is suitable for large-scale popularization and application. Compared with an existing robot technology, the requirement for users is not high.

Description

Technical Field

[0001] This invention belongs to the field of robot picking and handling technology, specifically relating to the structure and control system of a handling industrial logistics robot. Background Technology

[0002] To ensure the safe and stable operation of existing retrieval and handling robots, regular inspections and maintenance of the internal drive systems are required. However, the complex structure of existing robots makes disassembly and maintenance cumbersome, requires highly skilled personnel, and necessitates the use of specialized tools. Furthermore, specialized programmers are required to design the control system, leading to difficulties in maintenance and control program development, resulting in significant inconvenience for users. Summary of the Invention

[0003] The purpose of this invention is to provide a handling robot and its control system to solve the rather troublesome problem mentioned in the background art, and to contribute to the promotion and popularization of industrial robots.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a mechanical structure and control system for a handling robot, wherein the mechanical structure includes a body structure, a waist structure, a horizontal arm structure, and a clamping structure, and the control method includes hydraulic control and PLC control, as well as related communication connections.

[0005] The mechanical structure includes a base (1), a copper positioning ring (22) and anchor bolts (33). The base (1) is fixed to the ground by the anchor bolts (33), and the copper positioning ring (22) is fixed to the base (1) by bolts.

[0006] The waist structure in the mechanical structure includes a gear shaft (4), a small gear (2), a large gear (21), a stepper motor (3) and a motor mounting plate, a waist positioning ring (5), a support rod (6), a waist hydraulic cylinder body (7) and its components, a guide sleeve (8), an exhaust valve (9), a waist mounting plate (11), a waist hydraulic cylinder piston rod (10) and its components. The gear shaft (4) is supported and mounted on the base (1) by a copper positioning ring. The upper end of the gear shaft is fixed with the waist positioning ring (5) by screws. The large gear (21) is installed inside the base (1) and meshes with the small gear (2). The small gear (2) is installed... On the output shaft of the motor (3), it is mounted on the outside of the base (1) via the motor mounting plate. When working, the motor (3) is started, the small gear (2) drives the large gear (21) to rotate, and then the waist structure and the structure above the waist rotate around the Z direction via the gear shaft (4). The waist hydraulic cylinder body (7) is fixed in the middle of the waist positioning ring (5), and the waist hydraulic cylinder piston rod (10) is fixed in the middle of the waist mounting plate (11). When working, the extension and retraction of the waist hydraulic cylinder piston rod (10) drives the waist guide sleeve (8) to slide up and down along the support rod (6), thereby realizing the Z-direction movement of the waist structure and the structure above the waist structure.

[0007] The transverse arm structure in the mechanical structure includes a right mounting plate (14), a transverse hydraulic cylinder body (13) and its components, a transverse hydraulic cylinder extension rod (24) and its components, a horizontal guide rod (16), a horizontal guide sleeve (17), a left mounting plate (18), an exhaust valve (15), and a transverse support sleeve (12). The transverse hydraulic cylinder body (13) and the horizontal guide rod (16) are fixed on the right mounting plate (14), and the transverse hydraulic cylinder extension rod (24) and the horizontal guide sleeve (17) are fixed on the left mounting plate (18). The transverse support sleeve (12) is sleeved on the outer surface of the transverse hydraulic cylinder body (13). During operation, the transverse arm structure is extended and retracted by the extension and retraction of the transverse hydraulic cylinder extension rod (24), which drives the horizontal X-direction movement of the clamping structure, and at the same time leads the horizontal guide rod (16) to slide and guide in the horizontal guide sleeve (17).

[0008] The clamping structure in the mechanical structure includes a clamp (20), a clamp fixing plate (29), a rotating shaft (27), a gear (31), a sector gear (28), a rack extension rod assembly (6), a hydraulic cylinder assembly (7), a transmission box (8), and an infrared rangefinder (32). The part of the clamp (3) that contacts the clamped part is provided with a wear-resistant soft pad. The clamp (3), sector gear (2), and rotating shaft (5) are rotatably connected and fixed in the clamp fixing plate (4). The clamp fixing plate is connected to the transmission box (8) by bolts. The telescopic rod (19) is fixed to the outside of the left mounting plate (18) by screws. Its rack extension rod and its components (25) are provided. The extension rod is provided with a rack that meshes with the gear (31) fixed on the transmission box (30). The gear (31) meshes with the sector gear (28) fixed on the rotating shaft (27). When working, the clamps can clamp or release objects by moving the rack extension rod (25) forward or backward under hydraulic drive. Its infrared rangefinder (32) is installed in the center of the bottom of the gearbox (30).

[0009] The mechanical structure is equipped with exhaust valves (15) and (9) in both the waist hydraulic cylinder and the transverse hydraulic cylinder.

[0010] The mechanical structure of the transport robot adopts a corresponding control system, which includes a hydraulic control system and a PLC control system.

[0011] The hydraulic control system comprises a control oil circuit system with back pressure and pressure holding functions, consisting of a one-way sequence valve (34), an O-type neutral position solenoid directional valve (35), a hydraulic pump and its power components (36).

[0012] The PLC control system includes SIMATIC S7-1200 PLC hardware and corresponding software programs. The PLC hardware I / O establishes communication connections with the electromagnetic reversing valve, electromagnet, stepper motor, and infrared rangefinder. The software program offers two control modes: manual and automatic. In manual mode, the switch is first placed at the origin, then the manual mode button is pressed. The system executes commands according to PLC instructions, and an emergency stop button interrupts the program. In automatic mode, the PLC program first controls the clamping structure to return to the origin. The target coordinates of the object are input, the infrared rangefinder detects the distance from the object to the current coordinates, the PLC control system calculates and plans the optimal motion path, controls the hydraulic control system's oil circuit, and after one complete work cycle, the object is placed at the target position. The clamping structure then returns to the origin, awaiting the next cycle.

[0013] Compared with the prior art, the beneficial effects of the present invention are: simple mechanical structure, easy fault diagnosis and repair, convenient disassembly and assembly, the adoption of a guiding mechanism, large hydraulic drive torque, which can facilitate the handling of large and heavy objects over long distances, and strong read and write control program. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the robot's structure.

[0015] Figure 2 This is a schematic diagram of the clamping structure (Structure A).

[0016] Figure 3 This is a schematic diagram of the clamping head structure.

[0017] Figure 4 This is a schematic diagram of a hydraulic system.

[0018] Figure 5 This is a wiring diagram for a PLC control system.

[0019] Figure 6 This is a PLC program flowchart.

[0020] Figure 7 This is a PLC motion path planning diagram.

[0021] In the diagram: 1. Base; 2. Pinion; 3. Stepper motor; 4. Gear shaft; 5. Waist positioning ring; 6. Support rod × 4; 7. Waist hydraulic cylinder body and its components; 8. Guide sleeve × 4; 9. Exhaust valve; 10. Waist hydraulic cylinder piston rod and its components; 11. Waist mounting plate; 12. Lateral support sleeve; 13. Lateral hydraulic cylinder body and its components; 14. Right mounting plate; 15. Exhaust valve; 16. Horizontal guide rod × 2; 17. Horizontal guide sleeve × 2; 18. Left mounting plate; 19. Telescopic rod. 20. Clamping clamp 21. Large gear 22. Copper positioning ring 23. Positioning component required 24. Lateral hydraulic cylinder extension rod and its assembly 25. Rack and pinion hydraulic cylinder extension rod 26. Rack and pinion hydraulic cylinder body and its assembly 27. Rotating shaft × 2 28. Sector gear 29. Clamping clamp fixing plate 30. Transmission box 31. Gear 32. Infrared rangefinder 33. Anchor bolts 34. One-way sequence valve × 3 35. Solenoid directional valve × 3 36. Hydraulic pump and its power components 37. Magnetic counterweight

[0022] See Figures 1-3 As shown, the present invention provides a technical solution: a mechanical structure and control system for a handling robot, wherein the mechanical structure includes a body structure, a waist structure, a horizontal arm structure, and a clamping structure, and the control method includes hydraulic control and PLC control and related communication connections.

[0023] The mechanical structure includes a base (1), a copper positioning ring (22) and anchor bolts (33). The base (1) is fixed to the ground by the anchor bolts (33), and the copper positioning ring (22) is fixed to the base (1) by bolts.

[0024] Preferably, the base (1) adopts a T-shaped hollow structure, and the side opening and side platform structure facilitate the installation of the motor and gear transmission mechanism.

[0025] The waist structure in the mechanical structure includes a gear shaft (4), a small gear (2), a large gear (21), a stepper motor (3) and a motor mounting plate, a waist positioning ring (5), a support rod (6), a waist hydraulic cylinder body (7) and its components, a guide sleeve (8), an exhaust valve (9), a waist mounting plate (11), a waist hydraulic cylinder piston rod (10) and its components. The gear shaft (4) is supported and mounted on the base (1) by a copper positioning ring. The upper end of the gear shaft is fixed with the waist positioning ring (5) by screws. The large gear (21) is installed inside the base (1) and meshes with the small gear (2). The small gear (2) is installed... On the output shaft of the motor (3), it is mounted on the outside of the base (1) via the motor mounting plate. When working, the motor (3) is started, the small gear (2) drives the large gear (21) to rotate, and then the waist structure and the structure above the waist rotate around the Z direction via the gear shaft (4). The waist hydraulic cylinder body (7) is fixed in the middle of the waist positioning ring (5), and the waist hydraulic cylinder piston rod (10) is fixed in the middle of the waist mounting plate (11). When working, the extension and retraction of the waist hydraulic cylinder piston rod (10) drives the waist guide sleeve (8) to slide up and down along the support rod (6), thereby realizing the Z-direction movement of the waist structure and the structure above the waist structure.

[0026] The transverse arm structure in the mechanical structure includes a right mounting plate (14), a transverse hydraulic cylinder body (13) and its components, a transverse hydraulic cylinder extension rod (24) and its components, a horizontal guide rod (16), a horizontal guide sleeve (17), a left mounting plate (18), an exhaust valve (15), and a transverse support sleeve (12). The transverse hydraulic cylinder body (13) and the horizontal guide rod (16) are fixed on the right mounting plate (14), and the transverse hydraulic cylinder extension rod (24) and the horizontal guide sleeve (17) are fixed on the left mounting plate (18). The transverse support sleeve (12) is sleeved on the outer surface of the transverse hydraulic cylinder body (13). During operation, the transverse arm structure is extended and retracted by the extension and retraction of the transverse hydraulic cylinder extension rod (24), which drives the horizontal X-direction movement of the clamping structure, and at the same time leads the horizontal guide rod (16) to slide and guide in the horizontal guide sleeve (17).

[0027] Preferably, the axial length of the transverse support sleeve (12) in the transverse arm structure is not less than half of the transverse hydraulic cylinder body, and a magnetic counterweight (37) can be added to the right side of the right mounting plate (14) as needed.

[0028] The clamping structure in the mechanical structure includes a clamp (20), a clamp fixing plate (29), a rotating shaft (27), a gear (31), a sector gear (28), a rack extension rod assembly (6), a hydraulic cylinder assembly (7), a transmission box (8), and an infrared rangefinder (32). The part of the clamp (3) that contacts the clamped part is provided with a wear-resistant soft pad. The clamp (3), sector gear (2), and rotating shaft (5) are rotatably connected and fixed in the clamp fixing plate (4). The clamp fixing plate is connected to the transmission box (8) by bolts. The telescopic rod (19) is fixed to the outside of the left mounting plate (18) by screws. Its rack extension rod and its components (25) are provided. The extension rod is provided with a rack that meshes with the gear (31) fixed on the transmission box (30). The gear (31) meshes with the sector gear (28) fixed on the rotating shaft (27). When working, the clamps can clamp or release objects by moving the rack extension rod (25) forward or backward under hydraulic drive. Its infrared rangefinder (32) is installed in the center of the bottom of the gearbox (30).

[0029] Preferably, the center angle of the sector gear (28) is controlled between 60 and 150°.

[0030] The mechanical structure is equipped with exhaust valves (15) and (9) in both the waist hydraulic cylinder and the transverse hydraulic cylinder.

[0031] See Figures 4-7 As shown, the mechanical structure of the transport robot adopts a corresponding control system, which includes a hydraulic control system and a PLC control system.

[0032] See Figure 4 As shown, the hydraulic control system comprises a control oil circuit system with back pressure and pressure holding functions, consisting of a one-way sequence valve (34), an O-type neutral position solenoid directional valve (35), a hydraulic pump and its power components (36).

[0033] See Figures 4-7 As shown, the PLC control system includes SIMATIC S7-1200 PLC hardware and corresponding software programs. The PLC hardware I / O establishes communication connections with the electromagnetic reversing valve electromagnet, stepper motor, and infrared rangefinder. The software program is set to two control modes: manual control mode and automatic mode. In manual mode, the switch is first placed in the origin position, and then the manual mode (jog up, down, left, right, clamp, release) is pressed. The control system commands are executed according to the PLC instructions, and there is an emergency stop button to interrupt the program.

[0034] See Figures 4-7As shown, pressing the automatic mode start button causes all robot structures to return to their origin. Inputting the target object's coordinates, the infrared monitor measures the object's current coordinates and communicates with the PLC. The PLC control system issues a command, causing the stepper motor to rotate the waist structure 360° to a specified angle. Then, the PLC commands the solenoid valve 5YA to energize, allowing hydraulic oil to enter the rodless chamber of the waist telescopic cylinder via the oil pipe and filter. The waist hydraulic cylinder rod rises under pressure. When it reaches the specified height, the waist telescopic cylinder holds pressure and stops in its original position. The PLC control system then commands 3YA to energize, allowing hydraulic oil to enter the rodless chamber of the horizontal hydraulic cylinder via the oil pipe. The horizontal arm telescopic cylinder... The rod begins to move horizontally to a designated position above the object. The infrared rangefinder receives the information, processes it, and judges its proximity to the object. The PLC issues a command to energize the 1YA rack and pinion hydraulic cylinder rod to start moving downwards. After clamping the object, the PLC issues a command to the rack and pinion cylinder to maintain pressure. When the 3YA / 4YA is energized / de-energized, the horizontal arm telescopic rod extends / retracts to the target x-coordinate position and stops while maintaining pressure. When the 5YA / 6YA is energized / de-energized, the waist telescopic rod extends / retracts to the target z-coordinate position and stops while maintaining pressure. After the motor rotates to the target position and turns, the 2YA is energized and the rack and pinion cylinder retracts to release the object. The horizontal arm returns to its original position, the waist component returns to its original position, and the motor rotates to return the clamping component to its original position, completing one handling cycle.

[0035] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit of the technical solutions of the embodiments of this application.

Claims

1. A mechanical structure of a carrying robot and a control system thereof, characterized by, The mechanical structure includes a body structure, a waist structure, a cross arm structure and a clamping structure, and the control mode includes hydraulic control and PLC control mode and related communication connection.

2. The mechanical structure of a transport robot according to claim 1, characterized in that The body structure in the mechanical structure includes a base (1), a copper positioning ring (22) and an anchor bolt (33), the base (1) is fixed on the ground through the anchor bolt (33), and the copper positioning ring (22) is fixed on the base (1) through a bolt.

3. The mechanical structure of a transport robot according to claim 1, characterized in that, The waist structure in the mechanical structure includes a gear shaft (4), a pinion (2), a large gear (21), a stepping motor (3) and a motor mounting plate, a waist positioning ring (5), a support rod (6), a waist hydraulic cylinder body (7) and an assembly thereof, a guide sleeve (8), an exhaust valve (9), a waist mounting plate (11), a waist hydraulic cylinder piston rod (10) and an assembly thereof, the gear shaft (4) is supported and installed on the base (1) by the copper positioning ring, the waist positioning ring (5) is fixed on the upper end of the gear shaft through a screw, the large gear (21) is installed at the lower end of the gear shaft in the base (1) and meshes with the pinion (2), the pinion (2) is installed on the output shaft of the motor (3) and is mounted on the outside of the base (1) through the motor mounting plate, when the motor (3) is started, the pinion (2) drives the large gear (21) to rotate, and then the gear shaft (4) drives the waist structure and the structure above the waist to rotate around the Z direction, the waist hydraulic cylinder body (7) is fixed in the middle of the waist positioning ring (5), the waist hydraulic cylinder piston rod (10) is fixed in the middle of the waist mounting plate (11), and when working, the waist hydraulic cylinder piston rod (10) drives the waist guide sleeve (8) to slide up and down along the support rod (6), so that the waist structure and the structure above the waist structure move in the Z direction.

4. The mechanical structure of a transport robot according to claim 1, characterized in that, The cross arm structure in the mechanical structure includes a right mounting plate (14), a transverse hydraulic cylinder body (13) and an assembly thereof, a transverse hydraulic cylinder extension rod (24) and an assembly thereof, a horizontal guide rod (16), a horizontal guide sleeve (17), a left mounting plate (18), an exhaust valve (15) and a transverse support sleeve (12), the transverse hydraulic cylinder body (13) and the horizontal guide rod (16) are fixed on the right mounting plate (14), the transverse hydraulic cylinder extension rod (24) and the horizontal guide sleeve (17) are fixed on the left mounting plate (18), and the transverse support sleeve (12) is sleeved on the outer surface of the transverse hydraulic cylinder body (13), when working, the transverse hydraulic cylinder extension rod (24) is retracted to realize the retraction of the cross arm structure, drive the horizontal X direction movement of the clamping structure, and guide the horizontal guide rod (16) to slide in the horizontal guide sleeve (17).

5. The mechanical structure of a transport robot according to claim 1, characterized in that, The clamping structure in the mechanical structure includes a clamp (20), a clamp fixing plate (29), a rotating shaft (27), a gear (31), a sector gear (28), a rack extension rod assembly (6), a hydraulic cylinder body assembly (7), a transmission box (8), and an infrared distance meter (32). The contact part of the clamp (3) with the clamped object is provided with a wear-resistant soft pad. The clamp (3), the sector gear (2), and the rotating shaft (5) are rotationally connected and fixed in the clamp fixing plate (4). The clamp fixing plate is connected with the transmission box (8) through bolts. The extension rod (19) is fixed to the outside of the left mounting plate (18) through screws. The rack extension rod and its assembly (25) are provided with a rack which is engaged with the gear (31) fixed in the transmission box (30). The gear (31) is engaged with the sector gear (28) fixed on the rotating shaft (27). During operation, the clamp is clamped or released to the object by the forward movement or backward movement of the rack extension rod (25) under the hydraulic drive. The infrared distance meter (32) is installed at the bottom center of the reduction box (30).

6. The mechanical structure of a transport robot according to claim 1, characterized in that, The waist hydraulic cylinder and the transverse hydraulic cylinder in the mechanical structure are provided with exhaust valves (15) and (9).

7. The mechanical structure of a transport robot and its control system according to claim 1, characterized in that, The mechanical structure of the carrying robot adopts a corresponding control system, which includes a hydraulic control system and a PLC control system.

8. The mechanical structure of a transport robot and its control system according to claim 7, characterized in that, The hydraulic control system includes a one-way sequence valve (34), an O-shaped mid-function electromagnetic reversing valve (35), a hydraulic pump, and a power element (36) to form a control oil circuit system with back pressure and pressure maintaining functions.

9. The mechanical structure of a transport robot and its control system according to claim 7, characterized in that, The PLC control system includes a SIMATIC S7-1200 type PLC hardware and a corresponding software program. The I / O of the PLC hardware is in communication connection with the electromagnets of the electromagnetic reversing valve, the stepping motor, and the infrared distance meter. The software program is set to two control modes of manual control mode and automatic mode.

10. A mechanical structure of a carrying robot and a control system thereof, characterized by, The mechanical structure of the carrying robot according to any one of claims 1 to 9 comprises the following steps: S1. In the manual mode, first place the switch at the original position, then press the manual mode, and according to the manual instruction (pointing up, down, left, right, clamping, and releasing), the PLC instruction starts to implement the control system command to complete the corresponding instruction, and there is an emergency stop button to interrupt the program; S2. In the automatic mode, first, the PLC program issues an instruction to return the clamping structure to the coordinate origin, and inputs the object target coordinate; S3. The infrared distance meter detects the current coordinate value of the object; S4. The PLC control system calculates the optimal motion path, controls the hydraulic control system oil circuit, and puts the object into the target position through a whole working cycle; S5. The clamping structure returns to the original position and waits for the next cycle; S6. The PLC receives the manual mode signal and returns to step S1; S7. The PLC receives the automatic mode signal and returns to step S2. The PLC receives the emergency stop instruction to interrupt the program.

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